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//  Copyright (c) 2003-2021 Xsens Technologies B.V. or subsidiaries worldwide.
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//      may be used to endorse or promote products derived from this software without
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#ifndef GNSSPUBLISHER_H
#define GNSSPUBLISHER_H

#include "packetcallback.hpp"
#include <sensor_msgs/msg/nav_sat_fix.hpp>

#define FIX_TYPE_2D_FIX (2)
#define FIX_TYPE_3D_FIX (3)
#define FIX_TYPE_GNSS_AND_DEAD_RECKONING (4)

struct GnssPublisher : public PacketCallback
{
  rclcpp::Publisher<sensor_msgs::msg::NavSatFix>::SharedPtr pub;
  std::string frame_id = DEFAULT_FRAME_ID;

  GnssPublisher(rclcpp::Node & node)
  {
    int pub_queue_size = 5;
    node.get_parameter("publisher_queue_size", pub_queue_size);
    pub = node.create_publisher<sensor_msgs::msg::NavSatFix>("/gnss", pub_queue_size);
    node.get_parameter("frame_id", frame_id);
  }

  void operator()(const XsDataPacket & packet, rclcpp::Time timestamp)
  {
    if (packet.containsRawGnssPvtData()) {
      sensor_msgs::msg::NavSatFix msg;

      msg.header.stamp = timestamp;
      msg.header.frame_id = frame_id;

      XsRawGnssPvtData gnss = packet.rawGnssPvtData();

      msg.latitude = (double)gnss.m_lat * 1e-7;
      msg.longitude = (double)gnss.m_lon * 1e-7;
      msg.altitude = (double)gnss.m_height * 1e-3;
      // Position covariance [m^2], ENU
      double sh = ((double)gnss.m_hAcc * 1e-3);
      double sv = ((double)gnss.m_vAcc * 1e-3);
      msg.position_covariance = {sh * sh, 0, 0, 0, sh * sh, 0, 0, 0, sv * sv};
      msg.position_covariance_type = sensor_msgs::msg::NavSatFix::COVARIANCE_TYPE_DIAGONAL_KNOWN;

      switch (gnss.m_fixType) {
        case FIX_TYPE_2D_FIX:     // fall through
        case FIX_TYPE_3D_FIX:     // fall through
        case FIX_TYPE_GNSS_AND_DEAD_RECKONING:
          msg.status.status = sensor_msgs::msg::NavSatStatus::STATUS_FIX;
          break;
        default:
          msg.status.status = sensor_msgs::msg::NavSatStatus::STATUS_NO_FIX;
      }
      msg.status.service = 0;       // unknown

      pub->publish(msg);
    }
  }
};

#endif
